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Non-excavation pipeline path curvature calculation method and planning method thereof

A calculation method and path planning technology, applied in calculation, computer-aided design, instruments, etc., can solve problems such as complex underground conditions and inability to guarantee pipelines, and achieve the effect of ensuring construction quality

Pending Publication Date: 2022-06-24
HUANGSHAN GOLDEN LAND ELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although most constructions choose the design method of turning a big bend to avoid the dilemma of the pipeline undergoing a sharp bend, due to the complex underground conditions, the construction process cannot guarantee that the pipeline will always meet the requirements of the "big bend"; the most worrying thing is that during the construction process There are no tools and methods to detect and discover changes in camber in time

Method used

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  • Non-excavation pipeline path curvature calculation method and planning method thereof

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Effect test

Embodiment 1

[0042] The working basis of the present invention is precise GPS position information (the trenchless drilling system to which it is applied includes a directional instrument with GPS data acquisition function), and the construction steps and methods can refer to the applicant's previous application with the application number of 202010609895.4 The heading calculation method disclosed in the Chinese patent, and the guiding device and the route planning method disclosed in the Chinese patent with the application number of 202010251440.X.

[0043] It is assumed that the trajectory of the drill bit of the drilling system is in a three-dimensional coordinate system. If the coordinate position of the drill bit is known each time the drill pipe is added (the drill bit is located at the front end of the drill pipe at the front of the travel trajectory, which is the prior art), we can know The attitude of each drill pipe in three-dimensional space and the attitude change between drill ...

Embodiment 2

[0070] In this embodiment, the difference from the above-mentioned first embodiment is that in step S2), the following steps are included:

[0071] 2.1') ​​According to each connected three data points, a circle in three-dimensional space is analyzed, and the radius R of the circle is obtained. If R is not infinite, the change of inclination angle between two adjacent drill pipes should be 2d / R (radian), where d is the drilling length of each drill pipe (usually the length of the drill pipe, if the total length of the advancing is not two complete drill pipes, the total length of the two advancing can be used instead); If R is infinite, the change of inclination angle is 0; the radius of the circle from three points can be analyzed by referring to the relevant linear algebra textbooks;

[0072] 2.2') Convert radians into angles, and the conversion algorithm between radians and angles can refer to the published triangular geometry data.

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Abstract

The invention discloses a trenchless pipeline path curvature calculation method and a trenchless pipeline path curvature planning method. The trenchless pipeline path curvature calculation method comprises the following steps: S1) calculating the position of a drill bit when a drill rod is added each time: 1.1) recording the original positions (J, W, G and Q) of a ground position O2 right above the drill bit; 1.2) converting the four parameters into three-dimensional coordinate values: 1.2) generating a data point by the drill bit when one drill rod is pushed each time, the relative height of the drill bit at the current data point being Hi = Hi-1 + d * sin (Qi), i being the serial number of the drill rod, the pushing length of the drill rod being d, and H0 being 0, and setting the first drill rod of the drill bit as i = 1; 1.2) converting the three-dimensional coordinate of the drill bit: setting the GPS coordinate height of the starting point O as G0, converting the GPS standard coordinate and the relative height of the drill bit into a new GPS coordinate, and obtaining the coordinate (Ji, Wi, G0 + Hi) of any data point; 1.3) converting the new GPS coordinate of each data point into a geocentric coordinate (xi, yi, zi); and S2) calculating the dip angle change of the geocentric coordinates of each drill rod.

Description

technical field [0001] The invention relates to the field of trenchless technology, in particular to a method for calculating the curvature of a trenchless pipeline path and a method for planning a trenchless pipeline path. Background technique [0002] With the large-scale development of urban construction, it is necessary to lay sewage interception pipes or energy supply pipes (liquefied gas, natural gas, etc.) Traffic jams and construction safety hazards exist. [0003] Therefore, trenchless pipe laying technology has also been developed and used, that is, a construction method of laying, repairing and replacing underground pipelines without digging trenches on the road surface and without damaging the surface layer of a large area by means of geotechnical drilling and excavation. technology. The use of trenchless technology has the advantages of short cycle, low cost, less pollution, good safety performance, etc., and will not affect the normal traffic order. [0004]...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/18G01B21/20G06F111/10G06F113/14
CPCG06F30/18G01B21/20G06F2113/14G06F2111/10
Inventor 张志余金宇阳金宇鹏
Owner HUANGSHAN GOLDEN LAND ELECTRONICS